WO2023145293A1

WO2023145293A1 - Work machine

Info

Publication number: WO2023145293A1
Application number: PCT/JP2022/046426
Authority: WO
Inventors: 佑樹高瀬; 歩大熊; 豊田中; 正樹大門; 雄哉廣瀬
Original assignee: 株式会社小松製作所
Priority date: 2022-01-27
Filing date: 2022-12-16
Publication date: 2023-08-03

Abstract

An electric shovel (1) includes a first area (S1) in which a battery device (33) is disposed, a second area (S2) in which a battery heat management system (61) is disposed, and a vehicle body cover (32) having a generally hexahedral shape and surrounding the first area (S1) and the second area (S2). In the vehicle body cover (32), a rear surface (T1) on which a first intake port (P1) connected to the first area (S1) is formed is different from a front surface (T2) on which a second exhaust port (Q2) connected to the second area (S2).

Description

working machine

This disclosure relates to working machines.

Patent Document 1 discloses an electric excavator as an example of a working machine. An electric excavator is equipped with an electric motor driven by electric power stored in a battery device, instead of an engine included in a conventional hydraulic excavator. The electric motor drives a hydraulic pump for supplying pressure oil to hydraulic cylinders of the work machine.

JP 2012-202065 A

In order to suppress temperature deterioration of the battery housed in the battery device, it is necessary to maintain the battery within an appropriate temperature range (for example, 20°C to 35°C).

Therefore, it is conceivable to control the temperature of the battery by a BTMS (Battery Thermal Management System) that cools or heats the heat medium liquid flowing through the heat medium liquid path in the battery device.

However, when cooling the heat transfer fluid, the BTMS itself also exchanges heat, so if the exhaust from the BTMS flows into the battery device, the BTMS will increase the temperature control load of the battery device.

An object of the present disclosure is to provide a working machine capable of reducing the temperature control load of the battery device.

A work machine according to a first aspect of the present disclosure includes a first region in which a battery device is arranged, a second region in which a battery thermal management system that controls the temperature of the battery device is arranged, and the first region and the second region. It has a surrounding polyhedral body cover. In the vehicle body cover, the orientation of the surface on which the first air inlet for introducing air into the first region is formed differs from the orientation of the surface on which the second air outlet for leading air from the second region is formed.

A working machine according to a second aspect of the present disclosure relates to the first aspect, and in the vehicle body cover, the direction of the surface on which the first exhaust port for leading air from the first region is formed is the second It differs from the orientation of the surface on which the second air inlet for introducing air into the region is formed.

A work machine according to a third aspect of the present disclosure relates to the first or second aspect, and in the vehicle body cover, the surface on which the first air intake port is formed is the same as the surface on which the second air outlet is formed. Located opposite.

A work machine according to a fourth aspect of the present disclosure relates to any one of the first to third aspects, wherein the first region contains hydraulic oil supplied to the work machine and refrigerant supplied to an air conditioner. A cooling unit that cools at least one is arranged, and the cooling unit is arranged downstream of the battery device in a direction in which air flows in the first region.

A working machine according to a fifth aspect of the present disclosure, according to any one of the first to fourth aspects, further includes a cab arranged in front of the vehicle body cover. The surface on which the second exhaust port is formed is the front surface of the vehicle body cover, and at least a portion of the second exhaust port is separated from the cab when viewed from the front.

A work machine according to a sixth aspect of the present disclosure relates to any one of the first to fifth aspects above, and includes an electric motor driven by electric power of the battery device and a hydraulic pump driven by the electric motor. It further comprises a third region and a first partition plate that partitions the first region and the third region.

A work machine according to a seventh aspect of the present disclosure, according to any one of the first to sixth aspects, further includes a second partition plate that partitions the first area and the second area.

A work machine according to an eighth aspect of the present disclosure, according to any one of the first to seventh aspects, further includes a straightening member. The battery thermal management system has an outlet for discharging air, and the straightening member directs the air discharged from the outlet of the battery thermal management system to the second outlet of the vehicle body cover. lead.

According to the present disclosure, it is possible to provide a working machine capable of reducing the temperature control load of the battery device.

1 is a perspective view of an electric excavator according to an embodiment; FIG. 1 is a perspective view of an electric excavator according to an embodiment; FIG. 1 is a front view of an electric excavator according to an embodiment; FIG. It is a sectional view showing an air flow in the 1st field concerning an embodiment. FIG. 5 is a cross-sectional view showing airflow in a second region according to the embodiment; FIG. 14 is a schematic diagram showing a configuration within a second region according to Modification 7; FIG. 21 is a perspective view of a rectifying member according to Modification 7;

(electric excavator)
A configuration of an electric excavator 1 (an example of a "working machine") according to the present embodiment will be described with reference to the drawings.

Fig. 1 is a perspective view of the electric excavator 1 as seen from the rear right. FIG. 2 is a perspective view of the electric excavator 1 as seen from the rear left. FIG. 3 is a front view of the electric excavator 1. FIG.

As used herein, "upper" and "lower" mean upward and downward in the vertical direction. "Front" and "rear" refer to the front and rear of the electric excavator 1 in the longitudinal direction, and "left" and "right" refer to the left and right when the electric excavator 1 faces forward. means the direction

As shown in FIG. 1, the electric excavator 1 includes a lower traveling body 2, an upper revolving body 3, a working machine unit 4, and a cab 5.

The undercarriage 2 has a track frame 20 , driving wheels 21 , driven wheels 22 and crawler belts 23 . The track frame 20 extends in the front-rear direction. The drive wheels 21 are supported by the rear end portion of the track frame 20 . A driven wheel 22 is supported at the front end of the track frame 20 . The crawler belt 23 is stretched over the driving wheels 21 and the driven wheels 22 .

The upper revolving body 3 is arranged above the lower traveling body 2 . The upper revolving body 3 can be revolved with respect to the lower traveling body 2 . The upper revolving body 3 has a revolving frame 31 (an example of a “vehicle frame”) and a vehicle body cover 32 .

The revolving frame 31 is arranged above the undercarriage 2 . The swing frame 31 is supported by the undercarriage 2 .

The body cover 32 covers the space above the revolving frame 31. The vehicle body cover 32 is formed in a polyhedral shape. 1 and 2, the inside of the vehicle body cover 32 is shown transparently. The vehicle body cover 32 surrounds the first area S1, the second area S2 and the third area S3.

A battery device 33 and a cooling unit 34 are arranged in the first area S1.

The battery device 33 is arranged on the rear end of the revolving frame 31 . The battery device 33 includes a plurality of vertically stacked battery packs and a water jacket in which a heat transfer liquid circulates. A plurality of batteries are arranged inside each battery pack. Each battery is maintained within an appropriate temperature range (eg, 20° C. to 35° C.) by circulating the heat transfer fluid inside the water jacket. The battery device 33 also functions as a counterweight that a conventional hydraulic excavator has.

The cooling unit 34 is arranged on the left end of the revolving frame 31 . The cooling unit 34 has a hydraulic oil cooling device and a refrigerant cooling device. The hydraulic oil cooling device cools the hydraulic oil supplied to the working machine drive section 41, which will be described later. The hydraulic oil cooling device includes an oil cooler through which hydraulic oil circulates and a cooling fan for blowing air to the oil cooler. Hydraulic oil circulating inside the oil cooler is cooled by blowing air from a cooling fan. The refrigerant cooling device cools the refrigerant supplied to the air conditioner arranged in the cab 5 . A refrigerant cooling device includes a condenser and a cooling fan for blowing air to the condenser. The refrigerant circulating inside the condenser is cooled by air blown by a cooling fan.

The first area S1 is separated from the third area S3 by the first partition plate 35. By arranging the first partition plate 35 in this way, it is possible to prevent exhaust heat from heat-generating components (for example, an electric motor 72 and a hydraulic pump 73 to be described later) arranged in the third area S3 from being transmitted to the battery device 33. can be suppressed. The first partition plate 35 is formed in a plate shape. The shape of the first partition plate 35 is not particularly limited. The first partition plate 35 may not completely seal the space between the first region S1 and the third region S3, and the first region S1 and the third region S3 may be partially connected.

The first area S1 is separated from the second area S2 by the second partition plate 36. By arranging the second partition plate 36 in this way, it is possible to suppress transmission of exhaust heat from a heat-generating component (for example, a BTMS 61 to be described later) arranged in the second area S2 to the battery device 33 . The second partition plate 36 is formed in a plate shape. The shape of the second partition plate 36 is not particularly limited. The second partition plate 36 may not completely seal the space between the first region S1 and the second region S2, and the first region S1 and the second region S2 may be partially connected.

The second area S2 is provided above the first area S1. A BTMS (Battery Thermal Management System, an example of a battery thermal management system) 61 and a DC/DC converter 62 are arranged in the second area S2.

The BTMS 61 controls the temperature of the battery device 33. BTMS 61 includes a chiller, a circulation pump, a compressor, a condenser, a blower and a heater. The circulation pump sends the heat transfer fluid cooled by the compressor, condenser and blower or heated by the heater to the water jacket of the battery device 33 . Thereby, each battery of the battery device 33 is maintained in an appropriate temperature range (for example, 20° C. to 35° C.), and thermal deterioration of each battery is suppressed.

The DC/DC converter 62 drops the voltage of the DC power supplied from the battery device 33.

The third area S3 is provided to the right of the first area S1 and the second area S2. An inverter 71, an electric motor 72, a hydraulic pump 73, and a control valve 74 are arranged in the third area S3.

The inverter 71 converts the DC power supplied from the DC/DC converter 62 into AC power of a desired frequency.

The electric motor 72 is driven by AC power supplied from the inverter 71 . The electric motor 72 operates the lower traveling body 2 and the work implement unit 4 . Specifically, the electric motor 72 operates the lower traveling body 2 and the working machine unit 4 by driving a hydraulic pump 73 for supplying pressure oil to the lower traveling body 2 and the working machine unit 4 . The hydraulic pump 73 supplies pressure oil to the undercarriage 2 and the work implement unit 4 via the control valve 74 .

The work machine unit 4 has a work machine 40 and a work machine drive section 41 . Work implement 40 includes a boom 42 , an arm 43 and a bucket 44 . The work machine driving portion 41 includes a boom cylinder 45 , an arm cylinder 46 and a bucket cylinder 46 . The boom cylinder 45 , the arm cylinder 46 and the bucket cylinder 46 are operated by pressure oil supplied from the hydraulic pump 73 .

The cab 5 is arranged on the front end of the revolving frame 31 . Inside the cab 5, there are arranged a seat on which the driver sits, and various operation levers for operating the lower traveling body 2, the working machine unit 4, and the like.

(Car body cover 32)
As shown in FIGS. 1-3, the vehicle body cover 32 is formed in a polyhedral shape. The vehicle body cover 32 has a plurality of outer surfaces. Specifically, the body cover 32 has a first rear surface T11, a second rear surface T12, a front surface T2, a first left surface T31, a second left surface T32, a first right surface T41, a second right surface T42, an upper surface T5, and a lower surface T6. . Each surface is an example of the surface of the vehicle body cover 32 . Each face may be partially or wholly curved or curved.

The first rear surface T11 and the second rear surface T12 are surfaces facing rearward. The front surface T2 is a surface facing forward. The first left surface T31 and the second left surface T32 are surfaces facing left. The first right surface T41 and the second right surface T42 are surfaces facing right. The upper surface T5 is an upward surface. The lower surface T6 is a downward surface.

In this specification, the orientation of the surface means the orientation from the inside to the outside of the body cover.

The first rear surface T11 is located behind the first region S1 and the third region S3. The first rear surface T11 is connected to respective rear end portions of the first left surface T31 and the first right surface T41. The second rear surface T12 is located behind the second region S2. The second rear surface T12 is located above the first rear surface T11. The second rear surface T12 is connected to rear ends of the second left surface T32 and the second right surface T42. The first rear surface T11 and the second rear surface T12 are located on opposite sides of the front surface T2. The front surface T2 is connected to front ends of the first left surface T31, the first right surface T41, the second left surface T32, and the second right surface T42.

The first left surface T31 is located to the left of the first area S1. The second left surface T32 is located to the left of the second region S2. The second left surface T32 is located above the first left surface T31. The first right surface T41 is located to the right of the third region S3. The second right surface T42 is located to the right of the second region S2. The second right surface T42 is located above the first right surface T41.

The upper surface T5 is connected to upper ends of the second rear surface T12, the front surface T2, the second left surface T32, and the second right surface T42. The upper surface T5 is located on the opposite side of the lower surface T6. The lower surface T6 is connected to lower ends of the first rear surface T1, the front surface T2, the first left surface T31, and the first right surface T41.

As shown in FIGS. 1 and 2, the first rear surface T1 is formed with a first intake port P1 for introducing air into the first region S1. The first intake port P1 opens rearward. Outside air is drawn into the first region S1 through the first air inlet P1 by the suction force of the cooling fan included in the cooling unit 34 described above. Outside air is taken into the first area S1 from the rear.

As shown in FIGS. 1 and 2, the second rear surface T2 is formed with a second intake port P2 for introducing air into the second region S2. The second intake port P2 opens rearward. Outside air is taken into the second region S2 through the second air inlet P2 by the suction force of the blower of the BTMS 61 described above. Outside air is taken into the second area S2 from the rear.

As shown in FIG. 1, the second right surface T42 is formed with a third intake port P3 for introducing air into the second region S2. The third intake port P3 opens rightward. Outside air is taken into the second region S2 through the third air inlet P3 by the suction force of the blower of the BTMS 61 described above. Outside air is taken into the second area S2 from the right side.

As shown in FIG. 2, the first left surface T3 is formed with a first exhaust port Q1 for guiding air from the first region S1. The first exhaust port Q1 opens leftward. The inside air in the first region S1 blown out from the cooling fan included in the cooling unit 34 is discharged to the outside through the first exhaust port Q1. The inside air in the first region S1 is discharged leftward from the first exhaust port Q1.

As shown in FIG. 3, the front surface T2 is formed with a second exhaust port Q2 for leading air from the second region S2. The second exhaust port Q2 opens forward. The inside air in the second region S2 blown out from the blower of the BTMS 61 described above is discharged to the outside through the second exhaust port Q2. The internal air in the second region S2 is discharged forward from the second exhaust port Q2. As shown in FIG. 3 , the entire second exhaust port Q<b>2 is separated from the cab 5 when the vehicle body cover 32 is viewed from the front. That is, the second exhaust port Q2 does not overlap the cab 5 when the vehicle body cover 32 is viewed from the front.

Here, FIG. 4 is a cross-sectional view showing the air flow in the first region S1 with arrows, and FIG. 5 is a cross-sectional view showing the air flow in the second region S2 with arrows.

As shown in FIG. 4, outside air taken into the first region S1 from the first air inlet P1 formed in the first rear surface T11 passes through the cooling unit 34 after passing through the battery device 33, and flows through the first left surface T11. It is discharged to the outside from the first exhaust port Q1 formed at T31.

As shown in FIG. 5, outside air taken into the second region S2 from the second air intake P2 formed in the second rear surface T12 and the third air intake P3 formed in the second right surface T42 passes through the BTMS 61. After that, it is discharged to the outside from the second exhaust port Q2 formed in the front surface T2.

Thus, the orientation of the first rear surface T11 where the first air inlet P1 is formed differs from the orientation of the front surface T2 where the second air outlet Q2 is formed. Inside air in the second area S2 is discharged forward, and outside air is taken in from the rear in the first area S1. Therefore, it is possible to prevent the warm air discharged from the second area S2 from being taken into the first area S1. As a result, since the heating of the battery device 33 can be suppressed, the temperature control load of the battery device 33 by the BTMS 61 can be reduced.

In particular, in the present embodiment, since the first rear surface T11 in which the first air inlet P1 is formed is located on the opposite side of the front surface T2 in which the second air outlet Q2 is formed, air is discharged from the second region S2. It is easy to prevent the warm air from entering the first region S1.

Further, the orientation of the first left surface T31 where the first exhaust port Q1 is formed is different from the orientation of the second rear surface T1 where the second intake port P2 is formed, and the direction of the second rear surface T1 where the third intake port P3 is formed. It is different from the direction of the right surface T42. Inside air in the first area S1 is discharged to the left, and outside air is taken in from the rear and right in the second area S2. Therefore, it is possible to prevent the warm air discharged from the first area S1 from being taken into the second area S2. As a result, since heating of the BTMS 61 can be suppressed, the temperature control load of the battery device 33 by the BTMS 61 can be further reduced.

As shown in FIG. 4, the cooling unit 34 is arranged downstream of the battery device 33 in the direction in which the air flows in the first region S1. Therefore, when the outside air temperature is high, the air cooled by passing through the battery device 33 whose temperature is controlled by the BTMS 61 can be supplied to the cooling unit 34. Therefore, the cooling efficiency of the hydraulic oil and refrigerant in the cooling unit 34 can be improved. can be improved. In addition, when the outside air temperature is low, since the air heated by passing through the battery device 33 temperature-controlled by the BTMS 61 can be supplied to the cooling unit 34, overcooling of the cooling unit 34 can be suppressed. .

As shown in FIG. 3, the second exhaust port Q2 is separated from the cab 5 when the vehicle body cover 32 is viewed from the front. Therefore, it is possible to prevent the cab 5 from being heated by the exhaust heat from the second region S2.

(Modification of embodiment)
Although the embodiment of the present invention has been described above, the present invention is not limited to this and can be modified as appropriate without departing from the technical idea of the invention.

(Modification 1)
In the above embodiment, the first intake port P1 is formed in the first rear surface T11 and the second exhaust port Q2 is formed in the front surface T2, but this is not the only option. As long as the orientation of the surface on which the first air inlet P1 is formed and the orientation of the surface on which the second air outlet Q2 is formed are different, the surfaces on which the first air inlet P1 and the second air outlet Q2 are formed are , can be arbitrarily selected from a plurality of surfaces of the body cover 32 .

(Modification 2)
In the above embodiment, the first exhaust port Q1 is formed in the first left surface T31 and the second intake port P2 is formed in the first rear surface T11, but this is not the only option. As long as the orientation of the surface on which the first exhaust port Q1 is formed and the orientation of the surface on which the second intake port P2 is formed are different, the surfaces on which the first exhaust port Q1 and the second intake port P2 are formed are , can be arbitrarily selected from a plurality of surfaces of the body cover 32 .

(Modification 3)
Although the second region S2 is provided above the first region S1 in the above embodiment, it may be provided below the first region S1.

(Modification 4)
In the above embodiment, the entire second exhaust port Q2 is separated from the cab 5 when viewed from the front of the vehicle body cover 32, but only a part of the second exhaust port Q2 may be separated from the cab 5. . If at least part of the second exhaust port Q2 is separated from the cab 5, heating of the cab 5 can be suppressed.

(Modification 5)
Although the cooling unit 34 cools both the hydraulic oil and the refrigerant in the above embodiment, it may cool either the hydraulic oil or the refrigerant.

(Modification 6)
Although the electric excavator was described as an example of the working machine in the above embodiment, the working machine is not limited to this. The working machine may be any machine that operates with the electric power of the battery device, and examples of such working machine include an electric wheel loader and a motor grader.

(Modification 7)
FIG. 6 is a schematic diagram showing another configuration of the second region S2. In FIG. 6, the arrows indicate the wind flow.

As shown in FIG. 6, the BTMS 61 has a first inlet a1, a second inlet a2 and an outlet a3. The air taken into the second region S2 through the second air intake port P2 of the vehicle body cover 32 flows into the BTMS 61 through the first air intake port a1. The air taken into the second region S2 through the third air intake port P3 of the vehicle body cover 32 flows into the BTMS 61 through the second air intake port a2. The air that has flowed into the BTMS 61 from the first intake port a1 and the second intake port a2 is discharged to the outside of the BTMS 61 through the discharge port a3. The air discharged from the exhaust port a3 is discharged to the outside of the vehicle body cover 32 through the second exhaust port Q2 of the vehicle body cover 32. As shown in FIG.

As shown in FIG. 6, the electric excavator 1 may include a straightening member 8 arranged between the exhaust port a3 of the BTMS 61 and the second exhaust port Q2 of the vehicle body cover 32. The straightening member 8 guides the air discharged from the exhaust port a3 of the BTMS 61 to the second exhaust port Q2 of the vehicle body cover 32 .

7 is a perspective view of the rectifying member 8. FIG. The straightening member 8 has a pair of fixed portions 81 , a pair of leg portions 82 , a first straightening plate 83 and a second straightening plate 84 .

The pair of fixing parts 81 are fixed to the second partition plate 36 by bolts (not shown). The pair of leg portions 82 are erected on the pair of fixed portions 81 .

The first current plate 83 is supported by a pair of leg portions 82 . The first current plate 83 is formed in a plate shape. The first straightening plate 83 has a first straightening surface 83a. The first straightening surface 83a is an upward surface. In FIG. 7, the first straightening surface 83a is inclined with respect to the horizontal direction. It can be changed as appropriate according to the vertical position of the lower side of each of the exhaust ports Q2.

The second straightening plate 84 is arranged on one end of the first straightening plate 83 . The second current plate 84 is formed in a plate shape. The second straightening plate 84 has a second straightening surface 84a. The second rectifying surface 84a is a leftward surface.

As shown in FIG. 6, the first current plate 83 is arranged between the exhaust port a3 of the BTMS 61 and the second exhaust port Q2 of the vehicle body cover 32 when viewed from above. The first straightening plate 83 covers the lower part of the gap space between the exhaust port a3 of the BTMS 61 and the second exhaust port Q2 of the vehicle body cover 32 . This can prevent the warm air discharged from the discharge port a3 of the BTMS 61 from returning to the inside of the second area S2. Also, when there is a gap between the vehicle body cover 32 and the second partition plate 36, it is possible to prevent warm air discharged from the discharge port a3 of the BTMS 61 from flowing into the first region S1. Note that the first current plate 83 may cover part or all of the lower part of the gap space.

As shown in FIG. 6, the second current plate 84 is arranged between the exhaust port a3 of the BTMS 61 and the second exhaust port Q2 of the vehicle body cover 32 in top view. The second straightening plate 84 covers the lateral side (the right side in the example shown in FIG. 6) of the clearance space between the outlet a3 of the BTMS 61 and the second outlet Q2 of the vehicle body cover 32 . This can prevent the warm air discharged from the discharge port a3 of the BTMS 61 from returning to the inside of the second area S2. In addition, the second current plate 84 may cover a part of the lateral side of the gap space, or may cover the entire side thereof.

DESCRIPTION OF SYMBOLS 1... Electric excavator, 2... Undercarriage, 3... Upper revolving body, 31... Revolving frame, 32... Body cover, 33... Battery device, 34... Cooling unit, 35... First partition plate, 36... Second partition Plate 4 Work machine unit 40 Work machine 41 Work machine drive unit 5 Cab 61 BTMS 62 DC/DC converter 71 Inverter 72 Electric motor 73 Hydraulic pump 74 Control valve P1 First intake port P2 Second intake port P3 Third intake port Q1 First exhaust port Q2 Second exhaust port S1 First region S2 Second region , S3...Third region, T11...First rear surface, T12...Second rear surface, T2...Front surface, T31...First left surface, T32...Second left surface, T41...First right surface, T42...Second right surface, T5...Top surface , T6... bottom surface

Claims

A working machine that operates with the power of a battery device,
a first region in which the battery device is arranged;
a second area in which a battery thermal management system for temperature management of the battery device is arranged;
a polyhedral body cover surrounding the first region and the second region;
with
In the vehicle body cover, the direction of the surface on which the first intake port for introducing air into the first region is formed is the direction of the surface on which the second exhaust port for leading air from the second region is formed. different from
working machine.
In the vehicle body cover, the direction of the surface on which the first exhaust port for introducing air from the first region is formed is the direction of the surface on which the second air intake port for introducing air into the second region is formed. different from
A work machine according to claim 1.
In the vehicle body cover, the surface on which the first air inlet is formed is located on the opposite side of the surface on which the second air outlet is formed,
A working machine according to claim 1 or 2.
A cooling unit that cools at least one of hydraulic oil supplied to the working machine and refrigerant supplied to an air conditioner is disposed in the first area,
The cooling unit is arranged downstream of the battery device in a direction in which air flows in the first region.
A work machine according to claim 1.
further comprising a cab arranged in front of the vehicle body cover,
The surface on which the second exhaust port is formed is the front surface of the vehicle body cover,
At least a portion of the second exhaust port is separated from the cab when viewed from the front,
A work machine according to claim 1.
an electric motor driven by power of the battery device;
a third area in which a hydraulic pump driven by the electric motor is arranged;
a first partition plate that partitions the first region and the third region;
further comprising
A work machine according to claim 1.
Further comprising a second partition plate that partitions the first region and the second region,
A work machine according to claim 1.
Further comprising a rectifying member,
the battery thermal management system having an exhaust port for exhausting air;
the straightening member guides the air discharged from the outlet of the battery thermal management system to the second outlet of the vehicle body cover;
A work machine according to claim 1.